Devices and methods for robotic assemblies

Abstract

Disclosed herein are methods, devices and systems for performing robotic procedures. The devices may include one or more robotic arms. The one or more robotic arms may comprise one or more joints. A joint may include a magnetic sensing system. The one or more robotic arms may be configured to move an elbow joint independently from an end effector or origin of the robotic arm. A working end of the robotic arm may be configured for insertion through a trocar into a body cavity of a subject and may be operatively coupled to a motor unit by one or more electrical or mechanical components housed in a support tube.

The invention claimed is: 
     
       1. A method for inserting a surgical robot through a trocar, the method comprising:
 (a) providing a first component of the surgical robot that is coupled at a proximal end of the first component to a support tube, wherein the first component comprises a camera or a robotic arm; and 
 (b) inserting the first component and the support tube into the trocar, wherein as the first component exits the trocar, at least a portion of the support tube moves radially outward toward an inner wall of the trocar, thereby clearing a space within the trocar for passage of a second component of the surgical robot through the trocar. 
 
     
     
       2. The method of  claim 1 , wherein a transition element couples the support tube to the first component, and wherein the transition element is curved or tapered along at least a portion of its length. 
     
     
       3. The method of  claim 2 , wherein the transition element is configured to guide the first component radially outward upon the first component exiting the trocar. 
     
     
       4. The method of  claim 1 , wherein a stiffness of the support tube drives the support tube radially outward. 
     
     
       5. The method of  claim 1 , wherein the support tube is coupled to an elastic element, and wherein the elastic element drives the support tube radially outward. 
     
     
       6. The method of  claim 5 , wherein the elastic element comprises a spring. 
     
     
       7. The method of  claim 1 , wherein the inserting is performed by motor units coupled to the first component, and wherein the motor units are located outside of the trocar. 
     
     
       8. The method of  claim 7 , wherein the motor units comprise a mounting member configured to translate the motor units substantially parallel to an axis of insertion of the first component into the trocar. 
     
     
       9. The method of  claim 7 , wherein the first component is coupled to one of the motor units, and wherein the second component is coupled to another of the motor units. 
     
     
       10. The method of  claim 1 , wherein the support tube comprises a mechanical power element, an electrical power element, or a combination thereof. 
     
     
       11. The method of  claim 1 , wherein the support tube remains within the trocar throughout a surgical procedure carried out using the first component of the surgical robot. 
     
     
       12. The method of  claim 1 , wherein the first component comprises the robotic arm, and wherein the second component comprises a camera. 
     
     
       13. The method of  claim 1 , wherein at least a portion of the surgical robot is coupled to the trocar. 
     
     
       14. The method of  claim 1 , wherein a diameter of the support tube is less than a diameter of the first component. 
     
     
       15. A method for inserting a surgical robot through a trocar, the method comprising:
 (a) providing a first component of the surgical robot that is coupled at a proximal end of the first component to a support tube; and 
 (b) inserting the first component and the support tube into the trocar, wherein as the first component exits the trocar, at least a portion of the support tube moves radially outward toward an inner wall of the trocar, thereby clearing a space within the trocar for passage of a second component of the surgical robot through the trocar, wherein a diameter of the trocar is too small to permit the trocar to enclose the first component and the second component simultaneously. 
 
     
     
       16. The method of  claim 15 , wherein the diameter of the trocar is sufficiently large to permit the trocar to enclose the support tube and the second component simultaneously. 
     
     
       17. The method of  claim 1 , further comprising positioning the first component relative to the second component once both the first component and the second component have exited the trocar. 
     
     
       18. The method of  claim 15 , wherein a transition element couples the support tube to the first component, and wherein the transition element is curved or tapered along at least a portion of its length. 
     
     
       19. The method of  claim 18 , wherein the transition element is configured to guide the first component radially outward upon the first component exiting the trocar. 
     
     
       20. The method of  claim 15 , wherein a stiffness of the support tube drives the support tube radially outward. 
     
     
       21. The method of  claim 15 , wherein the support tube is coupled to an elastic element, and wherein the elastic element drives the support tube radially outward. 
     
     
       22. The method of  claim 15 , wherein the inserting is performed by motor units coupled to the first component, and wherein the motor units are located outside of the trocar. 
     
     
       23. The method of  claim 22 , wherein the motor units comprise a mounting member configured to translate the motor units substantially parallel to an axis of insertion of the first component into the trocar. 
     
     
       24. The method of  claim 22 , wherein the first component is coupled to one of the motor units, and wherein the second component is coupled to another of the motor units. 
     
     
       25. The method of  claim 15 , wherein the support tube comprises a mechanical power element, an electrical power element, or a combination thereof. 
     
     
       26. The method of  claim 15 , wherein the support tube remains within the trocar throughout a surgical procedure carried out using the first component of the surgical robot. 
     
     
       27. The method of  claim 15 , wherein the first component comprises a robotic arm, and wherein the second component comprises a camera. 
     
     
       28. The method of  claim 15 , wherein at least a portion of the surgical robot is coupled to the trocar. 
     
     
       29. The method of  claim 15 , wherein a diameter of the support tube is less than a diameter of the first component. 
     
     
       30. The method of  claim 15 , further comprising positioning a first component relative to a second component once both the first component and the second component have exited the trocar.